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how to get output from moveit? which topics need to be subscribed?

asked 2015-07-22 00:08:58 -0600

baiju gravatar image

hi, currently i have made a two degree of freedom manipulator(only two revolute joints, and thats it). i set it up in the similar manner to that of moveit setup assistant tutorial. i can visualize and move(plan and execute) it now. my actual robot is connected to two motors(servo and stepper) using arduino.so obviously its open loop system. and here is the problem begins.... what i want from moveit is simply some of parameters(like speed and direction for my motors) in real time(i.e. control of motors in ros itself). for this purpose, i'm ready to write a simple node which will convert the realtime actions to my desired output, but i simply cant find the topics to subscribe it for...what should i have to do now?i havent set any robot controller yet. do i have to setup any(if so, where can i find tutorial for it?)? isnt there a controller which can give me directly the output i want..? i'm on ubuntu 14.04, ros indigo. thanks for your reply and time.

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I have a quite similar problem. I only need the output from moveit (joint angles, speeds, etc. ) Would be very happy if this problem can be solved

Riel gravatar imageRiel ( 2015-07-22 02:36:57 -0600 )edit

rostopic echo /move_group/fake_controller_joint_states will give you what you want, when you execute moveit demo.launch.....but this is not the correct way to solve this problem..unfortunately, i'm still struggling to get correct solution for it....

baiju gravatar imagebaiju ( 2015-09-21 09:30:03 -0600 )edit

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answered 2015-07-22 02:44:17 -0600

Arowana gravatar image

updated 2015-07-22 02:45:11 -0600

From what I know they are several ways to actuate your real hardware.

First is using the hardware controller of gazebo, so you will have to do the whole setup and interface it with your arduino http://gazebosim.org/tutorials/?tut=ros_control This link shows you roughly how it works,

An other is to avoid to dive in such a complex implementation. As you said you work with an open loop. You can get the successive joint angles to set from a topic JointTrajectoryController (I am not sure of the topic's name) and send those joint angles to you arduino.

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Asked: 2015-07-22 00:08:58 -0600

Seen: 1,098 times

Last updated: Jul 22 '15